Robot Production Line From Scratch: One Hour, Every Part

The final episode of the Applied Robot Arms series. The stations from the earlier episodes become one simulated production line: a conveyor, a machine that stamps each part, a camera with a small CNN that checks it, and a good tray and reject bin, all served by one UR5e robot arm. Every part writes one record that follows it through every station. Joined as built, the line rejected all 17 good parts. Parts slid in the gripper on the long carry and tipped in the machine's fixture, and a lead-in fixed that. Then every part landed 4.75 mm off under the camera. The records showed the offset was the same every time, so we moved the taught point by the mean, and false rejects went to zero. After that: one simulated hour of each robot program (89 vs 109 parts an hour, just by reordering the robot's jobs), a lamp change caught by a reject-rate alarm (55 vs 3 good parts lost), why two very different hours can have the same OEE, and an hourly report and a part trace built from the records alone. About the setup: this is a simulated line, not a real factory. MuJoCo contact is soft, the conveyor is faked, and the camera is MuJoCo's renderer. Every number on screen comes from the code in this episode. What you'll learn Commissioning a robot line: why stations that pass alone fail when joined Fixture lead-ins, and fixing a steady offset by touching up a taught point from the records Ordering a robot's jobs around a machine (serial vs overlapped), measured over an hour A per-part record across stations: times, poses, model score, decision A reject-rate alarm, and what it saves when a lamp is replaced OEE (availability × performance × quality), and why you read it next to the records An hourly report, a reject Pareto and a part trace, built from the records Chapters 0:00 Intro 0:31 Mental model 1:26 The code 3:05 How it runs 3:17 Gotchas · commissioning 3:58 Results 5:10 Production view · recap Robot models: Universal Robots UR5e and Robotiq 2F-85 from MuJoCo Menagerie (BSD licences). This is the end of the series: leader-follower teleop, fast transit and slow insertion, machine tending, a vision check, and the whole line, all in one simulated work cell. #robotics #automation #robotarm #mujoco #manufacturing #oee #industry40 #pytorch